hypothesis.hpp

#ifndef _SAMS_HYPOTHESIS_HPP_
#define _SAMS_HYPOTHESIS_HPP_

#include "jafarConfig.h"

#include "jmath/ublasExtra.hpp"
#include "sams/matching.hpp"

namespace jafar {
  namespace sams{

    class Match;

    struct Hypothesis {
      std::string m_label;
      int m_view_id;
      int m_width, m_height;
      double m_wght;
      double m_dx,m_dy,m_dt,m_ds;
      jblas::mat m_t;
      double m_err;
      double m_p;
      std::vector<jafar::sams::Match> m_matches;

      int size() const {
        return m_matches.size();
      };
      
      bool operator< (Hypothesis const & h_) const {
        return ( m_matches.size()*m_wght < h_.m_matches.size()*h_.m_wght );
      };

      void computeProbability(); 

#ifdef HAVE_BOOST_SANDBOX
#ifdef HAVE_LAPACK

      void computeSimilarityTransform ();

      void pruneByAff(std::vector<jafar::sams::Match> const & matches_);

      static void pruneByAff(std::vector<jafar::sams::Match> const & matches_, std::vector<Hypothesis> & vHc_); 
      
#endif
#endif
    
      
      jblas::vec view2Frame () const {
        jblas::vec res(10);
        jblas::vec pos(3);
        jblas::mat t_inv(3,3);
        jmath::ublasExtra::lu_inv(m_t,t_inv);
        // point 00
        pos(0) = 0.0; pos(1) = 0.0; pos(2) = 1.0;
        jblas::vec3 coords = ublas::prod(t_inv,pos);
        res(0) = floor(coords(0)+0.5);
        res(1) = floor(coords(1)+0.5);
        // point 10
        pos(0) = 0.0; pos(1) = m_height; pos(2) = 1.0;
        coords = ublas::prod(t_inv,pos);
        res(2) = floor(coords(0)+0.5);
        res(3) = floor(coords(1)+0.5);
        // point 01
        pos(0) = m_width; pos(1) = 0.0; pos(2) = 1.0;
        coords = ublas::prod(t_inv,pos);
        res(4) = floor(coords(0)+0.5);
        res(5) = floor(coords(1)+0.5);
        // point 11
        pos(0) = m_width; pos(1) = m_height; pos(2) = 1.0;
        coords = ublas::prod(t_inv,pos);
        res(6) = floor(coords(0)+0.5);
        res(7) = floor(coords(1)+0.5);
        // center
        pos(0) = m_width/2; pos(1) = m_height/2; pos(2) = 1.0;
        coords = ublas::prod(t_inv,pos);
        res(8) = floor(coords(0)+0.5);
        res(9) = floor(coords(1)+0.5);
        return res;
      };
      
      jblas::vec part2Frame(int i) const {
        jblas::mat t_inv(3,3);
        jmath::ublasExtra::lu_inv(m_t,t_inv);
        return m_matches[i].modelRef->transform(t_inv);
      }
  
      
      std::string toString() const {
        std::stringstream s;
        s << "Hypthesis(" << m_label << ","  << m_view_id << ","
          << m_wght << "," << m_p << "," << m_matches.size() << "," << m_dx << "," << m_dy << "," << m_dt << "," << m_ds << ")"; 
        return s.str();
      }
    }; /* class Hypothesis */

  } /* sams */
} /* jafar */

#endif /* _SAMS_HYPOTHESIS_HPP_ */